1 citations · 1 across the 6 of their papers we have counts for
6 papers
Robust In-Hand Manipulation with Extrinsic Contacts
Boyuan Liang, Kei Ota, Masayoshi Tomizuka +1
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously.…
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a m…
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
Eric Rosen, Devesh K. Jha
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot ma…
Simultaneous Tactile Estimation and Control of Extrinsic Contact
Sangwoon Kim, Devesh K. Jha, Diego Romeres +2
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling l…
Tactile-Filter: Interactive Tactile Perception for Part Mating
Kei Ota, Devesh K. Jha, Hsiao-Yu Tung +1
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well a…
Learning robot motor skills with mixed reality
Eric Rosen, Sreehari Rammohan, Devesh Jha
Mixed Reality (MR) has recently shown great success as an intuitive interface for enabling end-users to teach robots. Related works have used MR interfaces to communicate robot int…